


config = {
    "Gen_scene": {
        "scene_save_dir": "dataset_tools/sources/mjcf_scenes", # where to save the generated scenes
        "stairwall": { # stairwall scene mode
            "gen_scene_num": 3, # how many stairwall scenes to generate
            "collision_num": 15, # how many collision in per scene
        },
        "random": { # random scene mode
            "gen_scene_num": 3, # how many stairwall scenes to generate
            "collision_num": 15, # how many collision in per scene
        }
    },
    "Gen_dataset": {
        "dataset_save_dir": "dataset", # where to save the generated dataset
        "resolution": 0.02, # resolution of the grid map 0.02m/pixel, no need to change
        "dataset_pre_scene": 10, # how many png to generate per map
        "scene_size": [20, 20], # size of the scene, no need to change
        "roi_imge_width": 250 # size of the data image, no need to change
    },
    "Collect_sim_data": {
        "laser_path": "dataset_tools/sources/laser/laser.xml", # path to the laser xml file
        "worker": 8 # number of threads to use for data collection, if you have a multi-core cpu, you can increase this number
    },
    "Sample_data_post_process": {
        "speckle_prob": 0.005, # probability of each pixel being a noise speckle
        "speckle_size_lower": 1, # minimum size of the noise speckle
        "speckle_size_upper": 2, # maximum size of the noise speckle
    }
}

def get_config() -> dict:
    return config
